mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Merged master->ros2. Updated turtlebot3 RGB-D examples (added instructions to add depth camera instead of copying sdf from another project)
This commit is contained in:
matlabbe
@@ -0,0 +1,367 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 0
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
Splitter Ratio: 0.522352933883667
|
||||
Tree Height: 297
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: Image
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 100
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
back_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
back_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_left_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_right_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_laser_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_left_steering_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_right_steering_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
main_mass:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
triclops_left_optical_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
triclops_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
velodyne:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
velodyne_base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
velodyne_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: catvehicle/robot_description
|
||||
TF Prefix: catvehicle
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 164; 0; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.30000001192092896
|
||||
Head Length: 0.20000000298023224
|
||||
Length: 0.30000001192092896
|
||||
Line Style: Lines
|
||||
Line Width: 0.029999999329447746
|
||||
Name: Path
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.029999999329447746
|
||||
Shaft Diameter: 0.10000000149011612
|
||||
Shaft Length: 0.10000000149011612
|
||||
Topic: /catvehicle/path
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: -9999
|
||||
Min Value: 9999
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: intensity
|
||||
Class: rviz/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: AxisColor
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.5
|
||||
Style: Spheres
|
||||
Topic: /catvehicle/front_laser_points
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 10
|
||||
Min Value: -10
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: ring
|
||||
Class: rviz/PointCloud2
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: Intensity
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: PointCloud2
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /catvehicle/velodyne_points
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 0.699999988079071
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /catvehicle/map
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /catvehicle/triclops/left/image_rect_color
|
||||
Max Value: 1
|
||||
Median window: 5
|
||||
Min Value: 0
|
||||
Name: Image
|
||||
Normalize Range: true
|
||||
Queue Size: 2
|
||||
Transport Hint: raw
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Autocompute Intensity Bounds: true
|
||||
Autocompute Value Bounds:
|
||||
Max Value: 12.792472839355469
|
||||
Min Value: 0.22430419921875
|
||||
Value: true
|
||||
Axis: Z
|
||||
Channel Name: z
|
||||
Class: rtabmap_ros/MapCloud
|
||||
Cloud decimation: 1
|
||||
Cloud from scan: true
|
||||
Cloud max depth (m): 0
|
||||
Cloud min depth (m): 1
|
||||
Cloud voxel size (m): 0.20000000298023224
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: AxisColor
|
||||
Download graph: false
|
||||
Download map: false
|
||||
Download namespace: catvehicle
|
||||
Enabled: true
|
||||
Filter ceiling (m): 0
|
||||
Filter floor (m): 0
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Min Color: 0; 0; 0
|
||||
Name: MapCloud
|
||||
Node filtering angle (degrees): 30
|
||||
Node filtering radius (m): 0
|
||||
Position Transformer: XYZ
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.009999999776482582
|
||||
Style: Points
|
||||
Topic: /catvehicle/mapData
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rtabmap_ros/MapGraph
|
||||
Enabled: true
|
||||
Global loop closure: 255; 0; 0
|
||||
Landmark: 0; 128; 0
|
||||
Local loop closure: 255; 255; 0
|
||||
Merged neighbor: 255; 170; 0
|
||||
Name: MapGraph
|
||||
Neighbor: 0; 0; 255
|
||||
Topic: /catvehicle/mapGraph
|
||||
Unreliable: false
|
||||
User: 255; 0; 0
|
||||
Value: true
|
||||
Virtual: 255; 0; 255
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 211; 215; 207
|
||||
Default Light: true
|
||||
Fixed Frame: world
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rtabmap_ros/OrbitOriented
|
||||
Distance: 32.8247184753418
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: false
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5253984332084656
|
||||
Target Frame: catvehicle/base_link
|
||||
Value: OrbitOriented (rtabmap_ros)
|
||||
Yaw: 2.720399856567383
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 959
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000020c00000365fc020000000bfb000000100044006900730070006c006100790073000000003d00000166000000c900fffffffb0000000a0049006d006100670065010000003d000003650000001600fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000000a0049006d0061006700650000000200000001b50000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000319000000cb0000000000000000000000010000010f00000365fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000365000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001c0fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005a00000003cfc0100000002fb0000000800540069006d00650000000000000005a0000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000002470000036500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1113
|
||||
X: 807
|
||||
Y: 27
|
||||
@@ -0,0 +1,110 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
|
||||
Author: Jonathan Sprinkle, Sam Taylor, Alex Warren, Rahul Bhadani
|
||||
Hannah Grace Mason, Joe Macinnes, Landon Chase Bentley
|
||||
|
||||
Copyright (c) 2015-2018 Arizona Board of Regents
|
||||
All rights reserved.
|
||||
|
||||
Permission is hereby granted, without written agreement and without
|
||||
license or royalty fees, to use, copy, modify, and distribute this
|
||||
software and its documentation for any purpose, provided that the
|
||||
above copyright notice and the following two paragraphs appear in
|
||||
all copies of this software.
|
||||
|
||||
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
|
||||
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
||||
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
|
||||
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGE.
|
||||
|
||||
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
|
||||
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
|
||||
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
|
||||
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
|
||||
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
|
||||
|
||||
Summary:
|
||||
This file includes gazebo reference for front stereo camera simulation mounted
|
||||
on the top of the car. For more information and for the tutorials used to create
|
||||
this file, see
|
||||
http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
|
||||
|
||||
|
||||
|
||||
-->
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:property name="M_PI" value="3.1415926535897931" />
|
||||
|
||||
<!--triclops camera-->
|
||||
<gazebo reference="triclops_link">
|
||||
<mu1>0.6</mu1>
|
||||
<mu2>0.5</mu2>
|
||||
</gazebo>
|
||||
|
||||
<joint name="triclops_optical" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="-${M_PI/2} 0 -${M_PI/2}"/>
|
||||
<parent link="triclops_link"/>
|
||||
<child link="triclops_left_optical_link"/>
|
||||
</joint>
|
||||
<link name="triclops_left_optical_link"/>
|
||||
|
||||
<gazebo reference="triclops_link">
|
||||
<sensor type="multicamera" name="triclops">
|
||||
<update_rate>16.0</update_rate>
|
||||
<camera name="left">
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>1280</width>
|
||||
<height>960</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<camera name="right">
|
||||
<pose>0 -0.07 0 0 0 0</pose>
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>1280</width>
|
||||
<height>960</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin name="camera_triclops_controller" filename="libgazebo_ros_multicamera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<robotNamespace>/$(arg roboname)</robotNamespace>
|
||||
<cameraName>triclops</cameraName>
|
||||
<imageTopicName>image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>triclops_left_optical_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
|
||||
Author: Jonathan Sprinkle, Sam Taylor, Alex Warren
|
||||
Copyright (c) 2015 Arizona Board of Regents
|
||||
All rights reserved.
|
||||
|
||||
Permission is hereby granted, without written agreement and without
|
||||
license or royalty fees, to use, copy, modify, and distribute this
|
||||
software and its documentation for any purpose, provided that the
|
||||
above copyright notice and the following two paragraphs appear in
|
||||
all copies of this software.
|
||||
|
||||
IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY
|
||||
FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
|
||||
ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN
|
||||
IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGE.
|
||||
|
||||
THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES,
|
||||
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
|
||||
AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER
|
||||
IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION
|
||||
TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.
|
||||
|
||||
Summary:
|
||||
This file includes the control interfaces for ROS-based control
|
||||
through Gazebo. For more information and for the tutorials used to create
|
||||
this file, see
|
||||
http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites
|
||||
|
||||
Sensors are included separately, based on the arguments passed to the xacro include
|
||||
|
||||
-->
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
|
||||
<xacro:VLP-16 parent="velodyne_link" name="velodyne" topic="/$(arg roboname)/velodyne_points" organize_cloud="false" hz="10" samples="440" gpu="true">
|
||||
<origin xyz="0 0 0.0" rpy="0 0 0" />
|
||||
</xacro:VLP-16>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,124 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
<!-- 1) Make sure rtabmap is built with libpointmatcher for lidar:=true option (lidar SLAM)
|
||||
|
||||
2) Install https://github.com/jmscslgroup/catvehicle
|
||||
We need a stereo camera and velodyne point cloud looking like the real
|
||||
sensor (ring-like pattern), so we have to modifiy the default catvehicle
|
||||
urdf. First we have to install velodyne_simulator package to have the
|
||||
right gazebo plugin and copy this modified velodyne config:
|
||||
* sudo apt install ros-$ROS_DISTRO-velodyne-simulator
|
||||
* cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_velodyne_points.gazebo ~/catkin_ws/src/catvehicle/urdf/.
|
||||
Secondly, we have to modify the triclops config to make it stereo:
|
||||
* cp ~/catkin_ws/src/rtabmap_ros/launch/config/catvehicle_triclops.gazebo ~/catkin_ws/src/catvehicle/urdf/.
|
||||
Set world->map frame instead of world->odom frame here:
|
||||
* https://github.com/jmscslgroup/catvehicle/blob/f58cc64103538bc93cd42dd30f59c4b937151f88/launch/catvehicle.launch#L104
|
||||
|
||||
3) roslaunch catvehicle catvehicle_city.launch gui:=true
|
||||
4) roslaunch catvehicle catvehicle_spawn.launch velodyne_points:=true triclops:=true Z:=5
|
||||
5) roslaunch catvehicle joystick.launch
|
||||
6) SLAM, 3 choices:
|
||||
A) LiDAR-SLAM + Visual loop closure detection:
|
||||
roslaunch rtabmap_ros demo_catvehicle_mapping.launch
|
||||
B) LiDAR-SLAM without camera:
|
||||
roslaunch rtabmap_ros demo_catvehicle_mapping.launch camera:=false
|
||||
C) Visual-SLAM without lidar:
|
||||
roslaunch rtabmap_ros demo_catvehicle_mapping.launch lidar:=false
|
||||
|
||||
Note: Gazebo real-time factor should be equal or below 1. If it is over 1,
|
||||
in gazebo client, select Physics, then change real time update rate to 500.
|
||||
-->
|
||||
<arg name="camera" default="true" />
|
||||
<arg name="lidar" default="true" />
|
||||
<arg name="cell_size" default="0.2" />
|
||||
<arg name="rtabmapviz" default="true" />
|
||||
<arg name="rviz" default="true" />
|
||||
<arg name="light" default="false" /> <!-- Don't record all scans if false -->
|
||||
<arg name="altitude" default="0" /> <!-- assemble occupancy grids by altitude (radius in meters, 0=disabled) -->
|
||||
<arg name="localization" default="false" />
|
||||
|
||||
<!-- Common parameters -->
|
||||
<arg name="common_args" value="
|
||||
--Rtabmap/DetectionRate 2
|
||||
--Mem/STMSize 30
|
||||
--Mem/LaserScanNormalK 10
|
||||
--OdomF2M/ScanMaxSize 30000
|
||||
--Odom/ScanKeyFrameThr 0.6
|
||||
--Icp/VoxelSize $(arg cell_size)
|
||||
--Icp/Iterations 10
|
||||
--Icp/MaxTranslation 2
|
||||
--Icp/RangeMin 1
|
||||
--Icp/PointToPlaneGroundNormalsUp 0.9
|
||||
--Icp/PointToPlaneRadius 0
|
||||
--Icp/MaxCorrespondenceDistance 1
|
||||
--Grid/ClusterRadius 1
|
||||
--Grid/RangeMax 20
|
||||
--Grid/RangeMin 2
|
||||
--Grid/RayTracing true
|
||||
--Grid/CellSize $(arg cell_size)
|
||||
--Grid/PreVoxelFiltering false
|
||||
--Grid/3D false
|
||||
--Grid/DepthRoiRatios '0 0 0 0.3'
|
||||
--Grid/MaxObstacleHeight 4
|
||||
--Kp/RoiRatios '0 0 0 0.3'
|
||||
--Vis/RoiRatios '0 0 0 0.3'
|
||||
--RGBD/LinearUpdate 0.2
|
||||
--RGBD/OptimizeMaxError 1
|
||||
--GridGlobal/AltitudeDelta $(arg altitude)"/>
|
||||
|
||||
<arg if="$(arg localization)" name="clear_db" value="" />
|
||||
<arg unless="$(arg localization)" name="clear_db" value="-d" />
|
||||
|
||||
<!-- RTAB-Map -->
|
||||
<remap from="/catvehicle/grid_map" to="/catvehicle/map"/>
|
||||
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
|
||||
<arg name="namespace" value="catvehicle"/>
|
||||
|
||||
<!-- LiDAR SLAM parameters -->
|
||||
<arg if="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
|
||||
--Reg/Strategy 1"/>
|
||||
|
||||
<!-- Visual SLAM parameters -->
|
||||
<arg unless="$(arg lidar)" name="args" value="$(arg clear_db) $(arg common_args)
|
||||
--Reg/Strategy 0
|
||||
--Grid/NormalsSegmentation false
|
||||
--Grid/MaxGroundHeight 0.7
|
||||
--Grid/NoiseFilteringRadius 0.5"/>
|
||||
|
||||
<arg name="localization" value="$(arg localization)"/>
|
||||
<arg name="subscribe_scan_cloud" value="$(arg lidar)"/>
|
||||
<arg name="stereo" value="$(arg camera)"/>
|
||||
<arg unless="$(arg camera)" name="depth" value="false"/>
|
||||
<arg unless="$(arg camera)" name="subscribe_rgb" value="false"/>
|
||||
<arg if="$(arg lidar)" name="icp_odometry" value="true"/>
|
||||
<arg unless="$(arg lidar)" name="visual_odometry" value="true"/>
|
||||
|
||||
<arg if="$(arg lidar)" name="odom_topic" value="lidar_odom"/>
|
||||
<arg unless="$(arg lidar)" name="odom_topic" value="visual_odom"/>
|
||||
|
||||
<arg name="odom_guess_frame_id" value="catvehicle/odom"/>
|
||||
<arg name="frame_id" value="catvehicle/base_link"/>
|
||||
<arg name="map_frame_id" value="catvehicle/map"/>
|
||||
<arg if="$(arg lidar)" name="vo_frame_id" value="catvehicle/lidar_odom"/>
|
||||
<arg unless="$(arg lidar)" name="vo_frame_id" value="catvehicle/visual_odom"/>
|
||||
|
||||
<arg name="stereo_namespace" value="/catvehicle/triclops"/>
|
||||
<arg name="right_image_topic" value="/catvehicle/triclops/right/image_rect_color"/>
|
||||
<arg name="scan_cloud_topic" value="/catvehicle/velodyne_points"/>
|
||||
<arg name="rgbd_sync" value="$(arg camera)"/>
|
||||
<arg name="approx_rgbd_sync" value="false"/>
|
||||
<arg name="approx_sync" value="$(eval camera and lidar)"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
<arg name="wait_for_transform" value="0.3"/>
|
||||
|
||||
<arg name="rtabmapviz" value="$(arg rtabmapviz)"/>
|
||||
|
||||
<arg name="scan_cloud_assembling" value="$(eval lidar and not light)"/>
|
||||
<arg name="scan_cloud_assembling_fixed_frame" value="catvehicle/lidar_odom"/>
|
||||
<arg name="scan_cloud_assembling_range_max" value="60"/>
|
||||
<arg name="scan_cloud_assembling_voxel_size" value="$(arg cell_size)"/>
|
||||
<arg name="scan_cloud_assembling_range_min" value="2"/>
|
||||
</include>
|
||||
|
||||
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/catvehicle.rviz"/>
|
||||
</launch>
|
||||
@@ -26,6 +26,8 @@
|
||||
<arg name="lidar3d_ray_tracing" default="true" />
|
||||
<arg name="lidar3d_grid3d" default="true" />
|
||||
|
||||
<arg name="camera" default="true" />
|
||||
|
||||
<!-- Load Robot Description -->
|
||||
<arg name="model" default="$(find carter_description)/urdf/carter.urdf"/>
|
||||
<param name="robot_description" textfile="$(arg model)" />
|
||||
@@ -33,17 +35,19 @@
|
||||
<!-- Lidar 3D based on demo_husky.launch -->
|
||||
<arg if="$(arg lidar3d)" name="cell_size" default="0.2" />
|
||||
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05" />
|
||||
<arg if="$(arg lidar3d)" name="args3d" value="--Icp/Iterations 10 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 10 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK --Grid/3D $(arg lidar3d_grid3d)" />
|
||||
<arg if="$(arg lidar3d)" name="args3d" value="--Icp/Iterations 10 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/PointToPlaneRadius 0 --Icp/MaxCorrespondenceDistance 1 --Grid/ClusterRadius 1 --Grid/RangeMax 10 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Mem/LaserScanNormalK 10 --Grid/3D $(arg lidar3d_grid3d)" />
|
||||
<arg unless="$(arg lidar3d)" name="args3d" value="--Grid/RangeMax 10" /> <!-- 2d scan, use default params -->
|
||||
|
||||
<!-- RTAB-Map -->
|
||||
<remap from="/rtabmap/grid_map" to="/map"/>
|
||||
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
|
||||
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true $(arg args3d)"/>
|
||||
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true $(arg args3d)"/>
|
||||
<arg if="$(arg localization)" name="args" value="--Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d) --Kp/MaxFeatures -1 --RGBD/ProximityBySpace false --Rtabmap/DetectionRate 3"/>
|
||||
<arg unless="$(arg localization)" name="args" value="-d --Reg/Strategy 1 --Reg/Force3DoF true --RGBD/NeighborLinkRefining true --Icp/MaxTranslation 0.5 $(arg args3d)"/>
|
||||
<arg name="localization" value="$(arg localization)"/>
|
||||
<arg if="$(arg lidar3d)" name="subscribe_scan_cloud" value="true"/>
|
||||
<arg unless="$(arg lidar3d)" name="subscribe_scan" value="true"/>
|
||||
<arg name="subscribe_depth" value="$(arg camera)"/>
|
||||
<arg name="subscribe_rgb" value="$(arg camera)"/>
|
||||
<arg name="visual_odometry" value="false"/>
|
||||
<arg name="odom_topic" value="/odom"/>
|
||||
<arg name="frame_id" value="base_link"/>
|
||||
@@ -55,6 +59,9 @@
|
||||
<arg name="rgbd_sync" value="true"/>
|
||||
<arg name="approx_rgbd_sync" value="false"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
<arg name="tag_linear_variance" value="0.01"/>
|
||||
<arg name="tag_angular_variance" value="1"/>
|
||||
|
||||
|
||||
<arg name="scan_cloud_assembling" value="$(arg lidar3d)"/>
|
||||
<arg name="scan_cloud_assembling_fixed_frame" value="odom"/>
|
||||
|
||||
@@ -1,6 +1,22 @@
|
||||
# Requirements:
|
||||
# Install Turtlebot3 packages
|
||||
# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
|
||||
# Modify turtlebot3_waffle SDF:
|
||||
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
|
||||
# 2) Add
|
||||
# <joint name="camera_rgb_optical_joint" type="fixed">
|
||||
# <parent>camera_rgb_frame</parent>
|
||||
# <child>camera_rgb_optical_frame</child>
|
||||
# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
|
||||
# <axis>
|
||||
# <xyz>0 0 1</xyz>
|
||||
# </axis>
|
||||
# </joint>
|
||||
# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
|
||||
# 4) Add <link name="camera_rgb_frame"/>
|
||||
# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
|
||||
# 6) Change image width/height from 1920x1080 to 640x480
|
||||
# 7) Note that we can increase min scan range from 0.12 to 0.2 to avoid having scans
|
||||
# hitting the robot itself
|
||||
# Example:
|
||||
# $ export TURTLEBOT3_MODEL=waffle
|
||||
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||
@@ -8,7 +24,7 @@
|
||||
# SLAM:
|
||||
# $ ros2 launch rtabmap_ros turtlebot3_rgbd.launch.py
|
||||
# OR
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info approx_sync:=true
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint odom_topic:=/odom args:="-d" use_sim_time:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info approx_sync:=true
|
||||
#
|
||||
# Navigation (install nav2_bringup package):
|
||||
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
||||
@@ -41,9 +57,9 @@ def generate_launch_description():
|
||||
}
|
||||
|
||||
remappings=[
|
||||
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
|
||||
('rgb/camera_info', '/intel_realsense_r200_depth/camera_info'),
|
||||
('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
|
||||
('rgb/image', '/camera/image_raw'),
|
||||
('rgb/camera_info', '/camera/camera_info'),
|
||||
('depth/image', '/camera/depth/image_raw')]
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
|
||||
@@ -1,6 +1,22 @@
|
||||
# Requirements:
|
||||
# Install Turtlebot3 packages
|
||||
# Install https://github.com/mlherd/ros2_turtlebot3_waffle_intel_realsense
|
||||
# Modify turtlebot3_waffle SDF:
|
||||
# 1) Edit turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf
|
||||
# 2) Add
|
||||
# <joint name="camera_rgb_optical_joint" type="fixed">
|
||||
# <parent>camera_rgb_frame</parent>
|
||||
# <child>camera_rgb_optical_frame</child>
|
||||
# <pose>0 0 0 -1.57079632679 0 -1.57079632679</pose>
|
||||
# <axis>
|
||||
# <xyz>0 0 1</xyz>
|
||||
# </axis>
|
||||
# </joint>
|
||||
# 3) Rename <link name="camera_rgb_frame"> to <link name="camera_rgb_optical_frame">
|
||||
# 4) Add <link name="camera_rgb_frame"/>
|
||||
# 5) Change <sensor name="camera" type="camera"> to <sensor name="camera" type="depth">
|
||||
# 6) Change image width/height from 1920x1080 to 640x480
|
||||
# 7) Note that we can increase min scan range from 0.12 to 0.2 to avoid having scans
|
||||
# hitting the robot itself
|
||||
# Example:
|
||||
# $ export TURTLEBOT3_MODEL=waffle
|
||||
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||
@@ -8,7 +24,7 @@
|
||||
# SLAM:
|
||||
# $ ros2 launch rtabmap_ros turtlebot3_rgbd_sync.launch.py
|
||||
# OR
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true rgbd_sync:=true rgb_topic:=/intel_realsense_r200_depth/image_raw depth_topic:=/intel_realsense_r200_depth/depth/image_raw camera_info_topic:=/intel_realsense_r200_depth/camera_info
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true approx_sync:=true approx_rgbd_sync:=false odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true rgbd_sync:=true rgb_topic:=/camera/image_raw depth_topic:=/camera/depth/image_raw camera_info_topic:=/camera/camera_info
|
||||
#
|
||||
# Navigation (install nav2_bringup package):
|
||||
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
||||
@@ -43,13 +59,14 @@ def generate_launch_description():
|
||||
'Reg/Strategy':'1',
|
||||
'Reg/Force3DoF':'true',
|
||||
'RGBD/NeighborLinkRefining':'True',
|
||||
'Grid/RangeMin':'0.2', # ignore laser scan points on the robot itself
|
||||
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||
}
|
||||
|
||||
remappings=[
|
||||
('rgb/image', '/intel_realsense_r200_depth/image_raw'),
|
||||
('rgb/camera_info', '/intel_realsense_r200_depth/camera_info'),
|
||||
('depth/image', '/intel_realsense_r200_depth/depth/image_raw')]
|
||||
('rgb/image', '/camera/image_raw'),
|
||||
('rgb/camera_info', '/camera/camera_info'),
|
||||
('depth/image', '/camera/depth/image_raw')]
|
||||
|
||||
return LaunchDescription([
|
||||
|
||||
@@ -69,7 +86,7 @@ def generate_launch_description():
|
||||
# Nodes to launch
|
||||
Node(
|
||||
package='rtabmap_ros', executable='rgbd_sync', output='screen',
|
||||
parameters=[{'approx_sync':True, 'use_sim_time':use_sim_time, 'qos':qos}],
|
||||
parameters=[{'approx_sync':False, 'use_sim_time':use_sim_time, 'qos':qos}],
|
||||
remappings=remappings),
|
||||
|
||||
# SLAM Mode:
|
||||
|
||||
@@ -1,5 +1,8 @@
|
||||
# Requirements:
|
||||
# Install Turtlebot3 packages
|
||||
# Note that we can edit turtlebot3_gazebo/models/turtlebot_waffle/model.sdf
|
||||
# to increase min scan range from 0.12 to 0.2 to avoid having scans
|
||||
# hitting the robot itself
|
||||
# Example:
|
||||
# $ export TURTLEBOT3_MODEL=waffle
|
||||
# $ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
|
||||
@@ -7,7 +10,7 @@
|
||||
# SLAM:
|
||||
# $ ros2 launch rtabmap_ros turtlebot3_scan.launch.py
|
||||
# OR
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1" use_sim_time:=true
|
||||
# $ ros2 launch rtabmap_ros rtabmap.launch.py visual_odometry:=false frame_id:=base_footprint subscribe_scan:=true depth:=false approx_sync:=true odom_topic:=/odom args:="-d --RGBD/NeighborLinkRefining true --Reg/Strategy 1 --Reg/Force3DoF true --Grid/RangeMin 0.2" use_sim_time:=true
|
||||
#
|
||||
# Navigation (install nav2_bringup package):
|
||||
# $ ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
|
||||
@@ -41,6 +44,7 @@ def generate_launch_description():
|
||||
'Reg/Strategy':'1',
|
||||
'Reg/Force3DoF':'true',
|
||||
'RGBD/NeighborLinkRefining':'True',
|
||||
'Grid/RangeMin':'0.2', # ignore laser scan points on the robot itself
|
||||
'Optimizer/GravitySigma':'0' # Disable imu constraints (we are already in 2D)
|
||||
}
|
||||
|
||||
|
||||
@@ -321,6 +321,7 @@
|
||||
<param name="range_max" type="double" value="$(arg scan_cloud_assembling_range_max)"/>
|
||||
<param name="noise_radius" type="double" value="$(arg scan_cloud_assembling_noise_radius)"/>
|
||||
<param name="noise_min_neighbors" type="int" value="$(arg scan_cloud_assembling_noise_min_neighbors)"/>
|
||||
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
|
||||
</node>
|
||||
|
||||
<!-- Visual SLAM (robot side) -->
|
||||
|
||||
Reference in New Issue
Block a user